CN105500358A - Full-automatic six-degree-of-freedom thread burning machine - Google Patents
Full-automatic six-degree-of-freedom thread burning machine Download PDFInfo
- Publication number
- CN105500358A CN105500358A CN201610091961.7A CN201610091961A CN105500358A CN 105500358 A CN105500358 A CN 105500358A CN 201610091961 A CN201610091961 A CN 201610091961A CN 105500358 A CN105500358 A CN 105500358A
- Authority
- CN
- China
- Prior art keywords
- steering wheel
- degree
- motor shaft
- freedom
- swing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/048—Pendulum type
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- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D117/00—Racks for receiving or transporting shoes or shoe parts; Other conveying means
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D95/00—Shoe-finishing machines
- A43D95/10—Drying or heating devices for shoes
Abstract
The invention belongs to the technical field of thread burning machines, and particularly relates to a full-automatic six-degree-of-freedom thread burning machine. A six-degree-of-freedom mechanical hand is installed on the left side of a base, and a thread burning device is installed on the right side of the base. The six-degree-of-freedom mechanical hand comprises a first steering engine, a second steering engine, a third steering engine, a fourth steering engine, a fifth steering engine and a sixth steering engine. A power system of the six-degree-of-freedom mechanical hand is composed of the six MG996 metal steering engines, and therefore the mechanical hand can achieve grabbing and carrying operation of the front, rear, upper, lower, left and right portions of a show on an assembly line, automatic thread burning can be achieved through the cooperation of the six-degree-of-freedom mechanical hand and the thread burning machine, thread burning is safe and reliable, and labor is greatly saved.
Description
Technical field
The invention belongs to and dry line machine technology field, refer in particular to a kind of full-automatic six degree of freedom and dry line machine.
Background technology
Dry line machine, have another name called air-heater, its cardinal principle is: utilize self-contained heating wire heating power, by in-built blower fan, heat is blown out fast by spout, the end of a thread residual on product in the process of making is blown, reaches and beautify product appearance, keep the object that product appearance is clean, clean and tidy.ZL201510699333.2 discloses a kind of trendy baking line machine, and it can carry out baking line preferably; But the problems such as current footwear industry recruitment is difficult, recruitment is expensive still annoying enterprise.
Summary of the invention
The object of this invention is to provide a kind of structure simple, safe and reliable, automatically can carry out the baking line machine drying line by six degree of freedom.
The object of the present invention is achieved like this:
A kind of full-automatic six degree of freedom dries line machine, and comprise pedestal, the left side of pedestal is provided with six degree of freedom manipulator, and the right side of pedestal is provided with baking line apparatus, described six degree of freedom manipulator comprises the first steering wheel, first steering wheel is arranged on pedestal, the motor shaft vertical of the first steering wheel protrudes upward and is provided with horizontal rotation platform, horizontal rotation platform is provided with the second steering wheel, the motor shaft of the second steering wheel longitudinally stretches out and is provided with swing lower carriage, the motor shaft of the second steering wheel is connected with swing lower carriage and drives and swings lower carriage and swing, the upper end swinging lower carriage is provided with the 3rd steering wheel, the motor shaft of the 3rd steering wheel and the motor shaft of the second steering wheel parallel to each other, the housing of the 3rd steering wheel is provided with swing upper bracket, the motor shaft of the 3rd steering wheel is connected with swing upper bracket and drives and swings upper bracket and swing, the upper end swinging upper bracket is provided with the 4th steering wheel, the motor shaft of the 4th steering wheel is connected with the 5th steering wheel and drives the 5th steering wheel to rotate, the motor shaft of the 5th steering wheel is connected with clamp bracket and drives clamp bracket to rotate, clamp bracket is provided with the 6th steering wheel and clamp, the motor shaft of the 6th steering wheel is connected with clamp rear end and drives clamp to open or close.
Described first steering wheel, the second steering wheel, the 3rd steering wheel, the 4th steering wheel, the 5th steering wheel and the 6th steering wheel are servomotor.
Described baking line apparatus comprises and is arranged on air-heater on pedestal and controller, and the airduct of air-heater protrudes upward and is connected with air duct; Described controller controls the action of the first steering wheel, the second steering wheel, the 3rd steering wheel, the 4th steering wheel, the 5th steering wheel, the 6th steering wheel and air-heater.
The present invention gives prominence to compared to existing technology and useful technique effect is:
The dynamical system of six degree of freedom manipulator of the present invention is made up of 6 MG996 metal steering wheels, the front and back of the shoes on manipulator pipeline, up and down and the operation of left and right grasp handling can be realized, six degree of freedom manipulator and baking line apparatus coordinate can realize automatic baking line, safe and reliable, save a large amount of manpowers.
Accompanying drawing explanation
Fig. 1 is structure diagram of the present invention.
In figure: 1-air duct; 2-airduct; 3-air-heater; 4-controller; 5-first steering wheel; 6-horizontal rotation platform; 7-second steering wheel; The motor shaft of 8-second steering wheel; 9-swings lower carriage; 10-the 3rd steering wheel; The motor shaft of 11-the 3rd steering wheel; 12-the 4th steering wheel; 13-the 5th steering wheel; 14-the 6th steering wheel; 15-clamp bracket; 16-clamp; 17-swings upper bracket.
Detailed description of the invention
Below in conjunction with accompanying drawing, with specific embodiment, the invention will be further described:
A kind of full-automatic six degree of freedom dries line machine, and comprise pedestal, the left side of pedestal is provided with six degree of freedom manipulator, and the right side of pedestal is provided with baking line apparatus, described six degree of freedom manipulator comprises the first steering wheel 5, first steering wheel 5 is arranged on pedestal, the motor shaft vertical of the first steering wheel 5 protrudes upward and is provided with horizontal rotation platform 6, horizontal rotation platform 6 is provided with the second steering wheel 7, the motor shaft 8 of the second steering wheel longitudinally stretches out and is provided with and swings lower carriage 9, the motor shaft of the second steering wheel is connected with swing lower carriage 9 and drives and swings lower carriage and swing, the upper end swinging lower carriage 9 is provided with the 3rd steering wheel 10, the motor shaft 11 of the 3rd steering wheel and the motor shaft of the second steering wheel parallel to each other, the housing of the 3rd steering wheel is provided with and swings upper bracket 17, the motor shaft of the 3rd steering wheel is connected with swing upper bracket 17 and drives and swings upper bracket and swing, the upper end swinging upper bracket 17 is provided with the 4th steering wheel 12, the motor shaft of the 4th steering wheel 12 is connected with the 5th steering wheel 13 and drives the 5th steering wheel 13 to rotate, the motor shaft of the 5th steering wheel 13 is connected with clamp bracket 15 and drives clamp bracket 15 to rotate, clamp bracket 15 is provided with the 6th steering wheel 14 and clamp 16, the motor shaft of the 6th steering wheel is connected with clamp 16 rear end and drives clamp 16 to open or close.
Described first steering wheel, the second steering wheel, the 3rd steering wheel, the 4th steering wheel, the 5th steering wheel and the 6th steering wheel are servomotor.
Described baking line apparatus comprises and is arranged on air-heater 3 on pedestal and controller 4, and the airduct 2 of air-heater 3 protrudes upward and is connected with air duct 1; Described controller 4 controls the action of the first steering wheel, the second steering wheel, the 3rd steering wheel, the 4th steering wheel, the 5th steering wheel, the 6th steering wheel and air-heater.Be provided with ArduinoUNOR3 control panel in controller 4, ArduinoUNOR3 control panel can control the action of each steering wheel efficiently.
In the present invention, the first steering wheel 5 drives horizontal rotation platform 6 significantly to rotate adjustment, and the rotation that the 5th steering wheel 13 drives clamp bracket 15 to carry out by a small margin regulates; Second steering wheel 7, the 3rd steering wheel 10 and the 4th steering wheel 12 coordinate realization to swing adjustment, and amplitude and the speed of swing are different, thus can carry out convenience according to the program of setting, fast, and action accurately.
Above-described embodiment is only preferred embodiment of the present invention, not limits the scope of the invention according to this, therefore: all equivalence changes done according to structure of the present invention, shape, principle, all should be covered by within protection scope of the present invention.
Claims (3)
1. full-automatic six degree of freedom dries a line machine, and it is characterized in that, comprise pedestal, the left side of pedestal is provided with six degree of freedom manipulator, and the right side of pedestal is provided with baking line apparatus, described six degree of freedom manipulator comprises the first steering wheel, first steering wheel is arranged on pedestal, the motor shaft vertical of the first steering wheel protrudes upward and is provided with horizontal rotation platform, horizontal rotation platform is provided with the second steering wheel, the motor shaft of the second steering wheel longitudinally stretches out and is provided with swing lower carriage, the motor shaft of the second steering wheel is connected with swing lower carriage and drives and swings lower carriage and swing, the upper end swinging lower carriage is provided with the 3rd steering wheel, the motor shaft of the 3rd steering wheel and the motor shaft of the second steering wheel parallel to each other, the housing of the 3rd steering wheel is provided with swing upper bracket, the motor shaft of the 3rd steering wheel is connected with swing upper bracket and drives and swings upper bracket and swing, the upper end swinging upper bracket is provided with the 4th steering wheel, the motor shaft of the 4th steering wheel is connected with the 5th steering wheel and drives the 5th steering wheel to rotate, the motor shaft of the 5th steering wheel is connected with clamp bracket and drives clamp bracket to rotate, clamp bracket is provided with the 6th steering wheel and clamp, the motor shaft of the 6th steering wheel is connected with clamp rear end and drives clamp to open or close.
2. the full-automatic six degree of freedom of one according to claim 1 dries line machine, and it is characterized in that, described first steering wheel, the second steering wheel, the 3rd steering wheel, the 4th steering wheel, the 5th steering wheel and the 6th steering wheel are servomotor.
3. the full-automatic six degree of freedom of one according to claim 1 dries line machine, it is characterized in that, described baking line apparatus comprises and is arranged on air-heater on pedestal and controller, and the airduct of air-heater protrudes upward and is connected with air duct; Described controller controls the action of the first steering wheel, the second steering wheel, the 3rd steering wheel, the 4th steering wheel, the 5th steering wheel, the 6th steering wheel and air-heater.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610091961.7A CN105500358A (en) | 2016-02-18 | 2016-02-18 | Full-automatic six-degree-of-freedom thread burning machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610091961.7A CN105500358A (en) | 2016-02-18 | 2016-02-18 | Full-automatic six-degree-of-freedom thread burning machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105500358A true CN105500358A (en) | 2016-04-20 |
Family
ID=55708852
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610091961.7A Pending CN105500358A (en) | 2016-02-18 | 2016-02-18 | Full-automatic six-degree-of-freedom thread burning machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105500358A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106579658A (en) * | 2016-12-16 | 2017-04-26 | 张萍 | Slag-removing and dehumidifying equipment for shoe processing |
| CN108515517A (en) * | 2018-04-08 | 2018-09-11 | 西安航空职业技术学院 | A kind of Pneumatic manipulator |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10265053A (en) * | 1997-03-24 | 1998-10-06 | Ngk Insulators Ltd | Automatic transferring device for solid insulator |
| CN201065327Y (en) * | 2007-12-21 | 2008-05-28 | 肖长思 | Machine for drying wire |
| CN201640701U (en) * | 2010-01-14 | 2010-11-24 | 志圣科技（广州）有限公司 | Clamping claw mechanism for footwear drying device |
| CN203668734U (en) * | 2014-01-21 | 2014-06-25 | 浙江佰利鞋业有限公司 | Multi-nozzle line blower for producing rubber boots |
| CN204123395U (en) * | 2014-07-30 | 2015-01-28 | 桂林电子科技大学 | The alternative device manually write |
| WO2015025398A1 (en) * | 2013-08-22 | 2015-02-26 | 株式会社アシックス | Article production system, article production method, and pallet |
| CN204237552U (en) * | 2014-10-31 | 2015-04-01 | 重庆市綦江县创业制鞋有限公司 | A kind of novel quick baking line machine |
| CN204414105U (en) * | 2015-02-09 | 2015-06-24 | 郭启 | A kind of medical bone surgery auxiliary manipulator |
| CN105177976A (en) * | 2015-10-26 | 2015-12-23 | 湖州织里韩衣童社服饰有限公司 | Thread blower |
| CN205521386U (en) * | 2016-02-18 | 2016-08-31 | 阮小乐 | Full -automatic 6 -degree of freedom dries by fire line machine |
-
2016
- 2016-02-18 CN CN201610091961.7A patent/CN105500358A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10265053A (en) * | 1997-03-24 | 1998-10-06 | Ngk Insulators Ltd | Automatic transferring device for solid insulator |
| CN201065327Y (en) * | 2007-12-21 | 2008-05-28 | 肖长思 | Machine for drying wire |
| CN201640701U (en) * | 2010-01-14 | 2010-11-24 | 志圣科技（广州）有限公司 | Clamping claw mechanism for footwear drying device |
| WO2015025398A1 (en) * | 2013-08-22 | 2015-02-26 | 株式会社アシックス | Article production system, article production method, and pallet |
| CN203668734U (en) * | 2014-01-21 | 2014-06-25 | 浙江佰利鞋业有限公司 | Multi-nozzle line blower for producing rubber boots |
| CN204123395U (en) * | 2014-07-30 | 2015-01-28 | 桂林电子科技大学 | The alternative device manually write |
| CN204237552U (en) * | 2014-10-31 | 2015-04-01 | 重庆市綦江县创业制鞋有限公司 | A kind of novel quick baking line machine |
| CN204414105U (en) * | 2015-02-09 | 2015-06-24 | 郭启 | A kind of medical bone surgery auxiliary manipulator |
| CN105177976A (en) * | 2015-10-26 | 2015-12-23 | 湖州织里韩衣童社服饰有限公司 | Thread blower |
| CN205521386U (en) * | 2016-02-18 | 2016-08-31 | 阮小乐 | Full -automatic 6 -degree of freedom dries by fire line machine |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106579658A (en) * | 2016-12-16 | 2017-04-26 | 张萍 | Slag-removing and dehumidifying equipment for shoe processing |
| CN108515517A (en) * | 2018-04-08 | 2018-09-11 | 西安航空职业技术学院 | A kind of Pneumatic manipulator |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20160621 Address after: 317599 No. 696, Lane 18, Mrs. stone road, Taiping Street, Wenling, Zhejiang Applicant after: Ruan Xiaole Address before: 317500 Zhejiang Taizhou Wenling Taiping Street Renmin East Road Vocational Education City Applicant before: Wenling Taiping Senior Vocational School |
|
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160420 |
|
| RJ01 | Rejection of invention patent application after publication |